ResSafe: Learning Safety Filtering with Residual Reinforcement Learning for Humanoids

G. Qu, T. Zhang, B. Zhang, Y. Wang, K. Sreenath, C. Tomlin, & J. J. Choi

Accepted to Conference on Robot Learning (CoRL), 2026

Collaboration with UC Berkeley

Time-To-Reach Separation and Safety Filtering for Safe, Fair, and Efficient Multi-Agent Coordination

M. Low, J. J. Aloor, V. M. Tuck, P. Nuzzo, & J. J. Choi

Accepted to IEEE Conference on Decision and Control (CDC), 2026

Collaboration with UC Berkeley, UPenn, and MIT

Robust Direct Data-Driven Hamiltonian for Safe Set Computation under Measurement Noise and Disturbances

M. Bajelani, C. A. Strong, C. J. Tomlin, J. J. Choi, & K. van Heusden

arXiv preprint arXiv:2606.17292

Collaboration with UC Berkeley and UBC

Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation

D. Baek, A. Purushottam, J. J. Choi, & J. Ramos

Accepted to IEEE Transactions on Robotics, 2026

Collaboration with UIUC

When are safety filters safe? On minimum phase conditions of Control Barrier Functions

J. J. Choi, S. Sastry, C. J. Tomlin, & K. Sreenath

Accepted to IEEE Transactions on Automatic Control, 2026

Multi-Agent Guided Policy Search for Non-Cooperative Dynamic Games

J. Li, G. Qu, J. J. Choi, S. Sojoudi, & C. J. Tomlin

American Control Conference (ACC), 2026

Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems

J. J. Choi*, F. Castaneda*, W. Jung*, B. Zhang, C. J. Tomlin, & K. Sreenath

IEEE Transactions on Robotics, 2025

Data-Driven Hamiltonian for Direct Construction of Safe Set from Trajectory Data

J. J. Choi*, C. A. Strong*, K. Sreenath, N. Cho & C. J. Tomlin

IEEE Conference on Decision and Control, 2025

Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety

J. J. Choi*, J. J. Aloor*, J. Li*, M. G. Mendoza, H. Balakrishnan, & C. J. Tomlin

Robotics: Science and Systems (RSS), 2025

Recursively Feasible Probabilistic Safe Online Learning with Control Barrier Functions

F. Castaneda*, J. J. Choi*, W. Jung, B. Zhang, C. J. Tomlin, & K. Sreenath

Accepted to IEEE Open Journal of Control System (OJ-CSYS) (Special Section: Intersection of Machine Learning with Control), 2025

Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker

X. Xia*, J. J. Choi*, A. Agrawal, K. Sreenath, C. J. Tomlin, & S. Bansal

IEEE CDC, 2024

Safety Filters for Black-Box Dynamical Systems by Learning Discriminating Hyperplanes

W. Lavanakul*, J. J. Choi*, K. Sreenath, & C. J. Tomlin

Annual Learning for Dynamics & Control Conference (L4DC), 2024

Towards Flight Envelope Protection for the NASA Tiltwing eVTOL Flight Mode Transition using Hamilton-Jacobi Reachability

T. Hsu, J. J. Choi, D. Amin, C. J. Tomlin, S. C. McWherter, & M. Piedmonte

Journal of the American Helicopter Society (JAHS), 2023

Data-Driven Safety Filters: Hamilton-Jacobi Reachability, Control Barrier Functions, and Predictive Methods For Uncertain Systems

K. P. Wabersich*, A. J. Taylor*, J. J. Choi*, K. Sreenath, C. J. Tomlin, A. D. Ames, & M. N. Zeilinger

IEEE Control Systems Magazine (CSM), 2023

Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots

J. J. Choi, A. Agrawal, K. Sreenath, C. J. Tomlin, & S. Bansal

IEEE Robotics & Automation Letters (RA-L) (presented at ICRA 2022), 2022

Lyapunov Density Models: Constraining Distribution Shift in Learning-Based Control

K. Kang, P. Gradu, J. J. Choi, M. Janner, C. Tomlin, & S. Levine

International Conf. on Machine Learning (ICML), 2022 (Acceptance rate: 22%)

Robust Control Barrier-Value Functions for Safety-Critical Control

J. J. Choi, D. Lee, K. Sreenath, C. J. Tomlin, & S. Herbert

IEEE CDC, 2021

Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty

F. Castaneda*, J. J. Choi*, B. Zhang, C. J. Tomlin, & K. Sreenath

IEEE Conference on Decision and Control (CDC), 2021

Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability

S. Herbert*, J. J. Choi*, S. Sanjeev, M. Gibson, K. Sreenath, & C. J. Tomlin

IEEE International Conference on Robotics and Automation (ICRA), 2021

Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects

F. Castaneda*, J. J. Choi*, B. Zhang, C. J. Tomlin, & K. Sreenath

American Control Conference (ACC), 2021

Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions

J. J. Choi*, F. Castaneda*, C. J. Tomlin, & K. Sreenath

Robotics: Science and Systems (RSS), 2020 (Acceptance rate: 32%)

Online Social Touch Pattern Recognition with Multi-modal-sensing Modular Tactile Interface

H. Ku*, J. J. Choi*, S. Jang*, W. Do*, S. Lee, & S. Seok

International Conference on Ubiquitous Robots (UR), 2019